/* sja1000.c
* Linux CAN-bus device driver.
* Written by Arnaud Westenberg email:arnaud@wanadoo.nl
+ * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
+ * email:pisa@cmp.felk.cvut.cz
* This software is released under the GPL-License.
- * Version 0.6 18 Sept 2000
+ * Version lincan-0.3 17 Jun 2004
*/
-#include <linux/autoconf.h>
-#if defined (CONFIG_MODVERSIONS) && !defined (MODVERSIONS)
-#define MODVERSIONS
-#endif
-
-#if defined (MODVERSIONS)
-#include <linux/modversions.h>
-#endif
-
-#include <linux/delay.h>
-#include <asm/irq.h>
-
+#include "../include/can.h"
+#include "../include/can_sysdep.h"
#include "../include/main.h"
#include "../include/sja1000.h"
+void sja1000_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj);
+void sja1000_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj);
+
int sja1000_enable_configuration(struct chip_t *chip)
{
int i=0;
unsigned flags;
- disable_irq(chip->chip_irq);
+ can_disable_irq(chip->chip_irq);
flags=can_read_reg(chip,SJACR);
- while ((!(flags & CR_RR)) && (i<=10)) {
- can_write_reg(chip,flags|CR_RR,SJACR);
+ while ((!(flags & sjaCR_RR)) && (i<=10)) {
+ can_write_reg(chip,flags|sjaCR_RR,SJACR);
udelay(100);
i++;
flags=can_read_reg(chip,SJACR);
}
if (i>=10) {
CANMSG("Reset error\n");
- enable_irq(chip->chip_irq);
+ can_enable_irq(chip->chip_irq);
return -ENODEV;
}
flags=can_read_reg(chip,SJACR);
- while ( (flags & CR_RR) && (i<=10) ) {
- can_write_reg(chip,flags & (CR_RIE|CR_TIE|CR_EIE|CR_OIE),SJACR);
+ while ( (flags & sjaCR_RR) && (i<=10) ) {
+ can_write_reg(chip,flags & (sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE),SJACR);
udelay(100);
i++;
flags=can_read_reg(chip,SJACR);
return -ENODEV;
}
- enable_irq(chip->chip_irq);
+ can_enable_irq(chip->chip_irq);
return 0;
}
if (sja1000_standard_mask(chip,0x0000, 0xffff))
return -ENODEV;
- if (!baudrate)
- baudrate=1000;
- if (sja1000_baud_rate(chip,1000*baudrate,chip->clock,0,75,0))
+ if (!chip->baudrate)
+ chip->baudrate=1000000;
+ if (sja1000_baud_rate(chip,chip->baudrate,chip->clock,0,75,0))
return -ENODEV;
/* Enable hardware interrupts */
- can_write_reg(chip,(CR_RIE|CR_TIE|CR_EIE|CR_OIE),SJACR);
+ can_write_reg(chip,(sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE),SJACR);
sja1000_disable_configuration(chip);
can_write_reg(chip, sjw<<6 | best_brp, SJABTR0);
can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | tseg2<<4 | tseg1,
SJABTR1);
-// can_write_reg(chip, OCR_MODE_NORMAL | OCR_TX0_LH | OCR_TX1_ZZ, SJAOCR);
+// can_write_reg(chip, sjaOCR_MODE_NORMAL | sjaOCR_TX0_LH | sjaOCR_TX1_ZZ, SJAOCR);
/* BASIC mode, bypass input comparator */
-// can_write_reg(chip, CDR_CBP| /* CDR_CLK_OFF | */ 7, SJACDR);
+// can_write_reg(chip, sjaCDR_CBP| /* sjaCDR_CLK_OFF | */ 7, SJACDR);
sja1000_disable_configuration(chip);
int sja1000_pre_read_config(struct chip_t *chip, struct msgobj_t *obj)
{
int i;
- struct canfifo_t *fifo = chip->msgobj[0]->fifo;
- int id;
+
i=can_read_reg(chip,SJASR);
- if (!(i&SR_RBS)) {
+ if (!(i&sjaSR_RBS)) {
//Temp
- for (i=0; i<0x20; i++)
- CANMSG("0x%x is 0x%x\n",i,can_read_reg(chip,i));
- return 0;
+ for (i=0; i<0x20; i++)
+ CANMSG("0x%x is 0x%x\n",i,can_read_reg(chip,i));
+ return 0;
}
sja1000_start_chip(chip);
- can_write_reg(chip, 0, SJACR); // disable interrupts for a moment
-// TODO: this would be best sja1000_irq_read_handler(chip);
-// now just duplicate the code.
- do {
- id=(can_read_reg(chip, SJARXID1)<<8) + can_read_reg(chip,
- SJARXID0);
- fifo->buf_rx_entry[fifo->head].length = (id>>8) & 0x0f;
- fifo->buf_rx_entry[fifo->head].id = id>>5;
- fifo->buf_rx_entry[fifo->head].flags = id&ID0_RTR ?
- MSG_RTR : 0;
- fifo->buf_rx_entry[fifo->head].timestamp = 0;
- fifo->buf_rx_entry[fifo->head].cob = 0;
- for (i=0; i<fifo->buf_rx_entry[fifo->head].length; i++) {
- fifo->buf_rx_entry[fifo->head].data[i] =
- can_read_reg(chip,SJARXDAT0 + i);
- }
- fifo->head++;
- if (fifo->head == MAX_BUF_LENGTH -1)
- fifo->head = 0;
- can_write_reg(chip, CMR_RRB, SJACMR);
- } while (can_read_reg(chip, SJASR) & SR_RBS);
+ // disable interrupts for a moment
+ can_write_reg(chip, 0, SJACR);
-// enable interrupts
- can_write_reg(chip, CR_OIE | CR_EIE | CR_TIE | CR_RIE, SJACR);
+ sja1000_irq_read_handler(chip, obj);
+
+ // enable interrupts
+ can_write_reg(chip, sjaCR_OIE | sjaCR_EIE | sjaCR_TIE | sjaCR_RIE, SJACR);
return 1;
}
-#define MAX_TRANSMIT_WAIT_LOOPS 200
+#define MAX_TRANSMIT_WAIT_LOOPS 10
+
int sja1000_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
int i=0, id=0;
+ int len;
sja1000_start_chip(chip); //sja1000 goes automatically into reset mode on errors
/* Wait until Transmit Buffer Status is released */
- while ( !(can_read_reg(chip, SJASR) & SR_TBS) &&
+ while ( !(can_read_reg(chip, SJASR) & sjaSR_TBS) &&
i++<MAX_TRANSMIT_WAIT_LOOPS) {
udelay(i);
}
- if (!(can_read_reg(chip, SJASR) & SR_TBS)) {
+ if (!(can_read_reg(chip, SJASR) & sjaSR_TBS)) {
CANMSG("Transmit timed out, cancelling\n");
- can_write_reg(chip, CMR_AT, SJACMR);
+ can_write_reg(chip, sjaCMR_AT, SJACMR);
i=0;
- while ( !(can_read_reg(chip, SJASR) & SR_TBS) &&
- i++<MAX_TRANSMIT_WAIT_LOOPS) {
+ while ( !(can_read_reg(chip, SJASR) & sjaSR_TBS) &&
+ i++<MAX_TRANSMIT_WAIT_LOOPS) {
udelay(i);
}
- if (!(can_read_reg(chip, SJASR) & SR_TBS)) {
+ if (!(can_read_reg(chip, SJASR) & sjaSR_TBS)) {
CANMSG("Could not cancel, please reset\n");
return -EIO;
}
}
- id = (msg->id<<5) | ((msg->flags&MSG_RTR)?ID0_RTR:0) | msg->length;
+ len = msg->length;
+ if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+ id = (msg->id<<5) | ((msg->flags&MSG_RTR)?sjaID0_RTR:0) | len;
can_write_reg(chip, id>>8, SJATXID1);
can_write_reg(chip, id & 0xff , SJATXID0);
- for (i=0; i<msg->length; i++)
+ for (i=0; i<len; i++)
can_write_reg(chip, msg->data[i], SJATXDAT0+i);
return 0;
int sja1000_send_msg(struct chip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
- can_write_reg(chip, CMR_TR, SJACMR);
+ can_write_reg(chip, sjaCMR_TR, SJACMR);
return 0;
}
int sja1000_check_tx_stat(struct chip_t *chip)
{
- if (can_read_reg(chip,SJASR) & SR_TCS)
+ if (can_read_reg(chip,SJASR) & sjaSR_TCS)
return 0;
else
return 1;
{
unsigned short flags = 0;
- flags = can_read_reg(chip, SJACR) & (CR_RIE|CR_TIE|CR_EIE|CR_OIE);
+ flags = can_read_reg(chip, SJACR) & (sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE);
can_write_reg(chip, flags, SJACR);
return 0;
{
unsigned short flags = 0;
- flags = can_read_reg(chip, SJACR) & (CR_RIE|CR_TIE|CR_EIE|CR_OIE);
- can_write_reg(chip, flags|CR_RR, SJACR);
+ flags = can_read_reg(chip, SJACR) & (sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE);
+ can_write_reg(chip, flags|sjaCR_RR, SJACR);
return 0;
}
return -ENOSYS;
}
+
+can_irqreturn_t sja1000_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
+{
+ unsigned irq_register;
+ struct chip_t *chip=(struct chip_t *)dev_id;
+ struct msgobj_t *obj=chip->msgobj[0];
+
+ irq_register=can_read_reg(chip, SJAIR);
+// DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
+// DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
+// can_read_reg(chip, SJASR));
+
+ if ((irq_register & (sjaIR_WUI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
+ return CAN_IRQ_NONE;
+
+ if ((irq_register & sjaIR_RI) != 0)
+ sja1000_irq_read_handler(chip, obj);
+
+ if ((irq_register & sjaIR_TI) != 0) {
+ can_msgobj_set_fl(obj,TX_REQUEST);
+ while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ if (can_read_reg(chip, SJASR) & sjaSR_TBS)
+ sja1000_irq_write_handler(chip, obj);
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+ }
+ }
+
+ if ((irq_register & (sjaIR_EI|sjaIR_DOI)) != 0) {
+ // Some error happened
+// FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
+// Reset flag set to 0 if chip is already off the bus. Full state report
+ CANMSG("Error: status register: 0x%x irq_register: 0x%02x\n",
+ can_read_reg(chip, SJASR), irq_register);
+ obj->ret=-1;
+
+ if(obj->tx_slot){
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
+ /*canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;*/
+ }
+ }
+
+ return CAN_IRQ_HANDLED;
+}
+
+void sja1000_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj)
+{
+ int i=0, id=0, len;
+
+ do {
+ id = can_read_reg(chip, SJARXID0) | (can_read_reg(chip, SJARXID1)<<8);
+ obj->rx_msg.length = len = id & 0x0f;
+ obj->rx_msg.flags = id&sjaID0_RTR ? MSG_RTR : 0;
+ #ifdef CAN_MSG_VERSION_2
+ obj->rx_msg.timestamp.tv_sec = 0;
+ obj->rx_msg.timestamp.tv_usec = 0;
+ #else /* CAN_MSG_VERSION_2 */
+ obj->rx_msg.timestamp = 0;
+ #endif /* CAN_MSG_VERSION_2 */
+ obj->rx_msg.cob = 0;
+ obj->rx_msg.id = id>>5;
+
+ if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+ for (i=0; i<len; i++)
+ obj->rx_msg.data[i]=can_read_reg(chip, SJARXDAT0 + i);
+
+ can_write_reg(chip, sjaCMR_RRB, SJACMR);
+
+ canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+ } while(can_read_reg(chip, SJASR) & sjaSR_RBS);
+}
+
+void sja1000_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
+{
+ int cmd;
+
+ if(obj->tx_slot){
+ /* Do local transmitted message distribution if enabled */
+ if (processlocal){
+ obj->tx_slot->msg.flags |= MSG_LOCAL;
+ canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
+ }
+ /* Free transmitted slot */
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;
+ }
+
+ cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
+ if(cmd<0)
+ return;
+
+ if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
+ obj->ret = -1;
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;
+ return;
+ }
+ if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
+ obj->ret = -1;
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;
+ return;
+ }
+}
+
+/**
+ * sja1000_wakeup_tx: - wakeups TX processing
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000.c
+ */
+int sja1000_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
+{
+ can_preempt_disable();
+
+ can_msgobj_set_fl(obj,TX_REQUEST);
+ while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ if (can_read_reg(chip, SJASR) & sjaSR_TBS)
+ sja1000_irq_write_handler(chip, obj);
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+ }
+
+ can_preempt_enable();
+ return 0;
+}
+
int sja1000_register(struct chipspecops_t *chipspecops)
{
chipspecops->chip_config = sja1000_chip_config;
chipspecops->pre_write_config = sja1000_pre_write_config;
chipspecops->send_msg = sja1000_send_msg;
chipspecops->check_tx_stat = sja1000_check_tx_stat;
+ chipspecops->wakeup_tx=sja1000_wakeup_tx;
chipspecops->remote_request = sja1000_remote_request;
chipspecops->enable_configuration = sja1000_enable_configuration;
chipspecops->disable_configuration = sja1000_disable_configuration;
chipspecops->irq_handler = sja1000_irq_handler;
return 0;
}
+
+int sja1000_fill_chipspecops(struct chip_t *chip)
+{
+ chip->chip_type="sja1000";
+ chip->max_objects=1;
+ sja1000_register(chip->chipspecops);
+ return 0;
+}
+
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